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<div class="title">correspondence_rejection_organized_boundary.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> *  Software License Agreement (BSD License)</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2009-2012, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_ORGANIZED_BOUNDARY_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_ORGANIZED_BOUNDARY_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/correspondence_rejection.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keyword">namespace </span>registration</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  {</div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejection_organized_boundary.html">   59</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejection_organized_boundary.html">CorrespondenceRejectionOrganizedBoundary</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html">CorrespondenceRejector</a></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    {</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejection_organized_boundary.html#a0461ddfd9e3b02b4e255deab34416857">   63</a></span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejection_organized_boundary.html#a0461ddfd9e3b02b4e255deab34416857">CorrespondenceRejectionOrganizedBoundary</a> ()</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        : boundary_nans_threshold_ (8)</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        , window_size_ (5)</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        , depth_step_threshold_ (0.025f)</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        , data_container_ ()</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      { }</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejection_organized_boundary.html#a46d7cc2bfe42a18eebcfc35b1b14df80">   71</a></span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejection_organized_boundary.html#a46d7cc2bfe42a18eebcfc35b1b14df80">getRemainingCorrespondences</a> (<span class="keyword">const</span> pcl::Correspondences&amp; original_correspondences,</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;                                   pcl::Correspondences&amp; remaining_correspondences);</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      setNumberOfBoundaryNaNs (<span class="keywordtype">int</span> val)</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      { boundary_nans_threshold_ = val; }</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      setInputSource (<span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;cloud)</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      {</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <span class="keywordflow">if</span> (!data_container_)</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;          data_container_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1registration_1_1_data_container.html">pcl::registration::DataContainer&lt;PointT&gt;</a>);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        boost::static_pointer_cast&lt;pcl::registration::DataContainer&lt;PointT&gt; &gt; (data_container_)-&gt;setInputSource (cloud);</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      }</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      setInputTarget (<span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;cloud)</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      {</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <span class="keywordflow">if</span> (!data_container_)</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;          data_container_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1registration_1_1_data_container.html">pcl::registration::DataContainer&lt;PointT&gt;</a>);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        boost::static_pointer_cast&lt;pcl::registration::DataContainer&lt;PointT&gt; &gt; (data_container_)-&gt;setInputTarget (cloud);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      }</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejection_organized_boundary.html#a43001f5447541d815f7e061a9aaa23f6">   97</a></span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejection_organized_boundary.html#a43001f5447541d815f7e061a9aaa23f6">requiresSourcePoints</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;<span class="keyword">      </span>{ <span class="keywordflow">return</span> (<span class="keyword">true</span>); }</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejection_organized_boundary.html#a9cb1d422f69900ef6b14cdbc9882dcad">  102</a></span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejection_organized_boundary.html#a9cb1d422f69900ef6b14cdbc9882dcad">setSourcePoints</a> (pcl::PCLPointCloud2::ConstPtr cloud2)</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      { </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        PointCloud&lt;PointXYZ&gt;::Ptr cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointXYZ&gt;</a>);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        fromPCLPointCloud2 (*cloud2, *cloud);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        setInputSource&lt;PointXYZ&gt; (cloud);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      }</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejection_organized_boundary.html#afb1ae338acec662792295287628a2869">  111</a></span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejection_organized_boundary.html#afb1ae338acec662792295287628a2869">requiresTargetPoints</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;<span class="keyword">      </span>{ <span class="keywordflow">return</span> (<span class="keyword">true</span>); }</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejection_organized_boundary.html#a1706ee160d25a4d6104f04620984e0b2">  116</a></span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejection_organized_boundary.html#a1706ee160d25a4d6104f04620984e0b2">setTargetPoints</a> (pcl::PCLPointCloud2::ConstPtr cloud2)</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      { </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        PointCloud&lt;PointXYZ&gt;::Ptr cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointXYZ&gt;</a>);</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        fromPCLPointCloud2 (*cloud2, *cloud);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        setInputTarget&lt;PointXYZ&gt; (cloud);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      updateSource (<span class="keyword">const</span> Eigen::Matrix4d &amp;)</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      { <span class="keywordflow">return</span> (<span class="keyword">true</span>); }</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejection_organized_boundary.html#ab0e6fb59d74fe0e8566674762815c584">  133</a></span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejection_organized_boundary.html#ab0e6fb59d74fe0e8566674762815c584">applyRejection</a> (pcl::Correspondences &amp;correspondences)</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      { getRemainingCorrespondences (*input_correspondences_, correspondences); }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      <span class="keywordtype">int</span> boundary_nans_threshold_;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      <span class="keywordtype">int</span> window_size_;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      <span class="keywordtype">float</span> depth_step_threshold_;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;pcl::registration::DataContainerInterface&gt; DataContainerPtr;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      DataContainerPtr data_container_;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    };</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  }</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;}</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/impl/correspondence_rejection_organized_boundary.hpp&gt;</span></div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_REGISTRATION_CORRESPONDENCE_REJECTION_ORGANIZED_BOUNDARY_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejection_organized_boundary_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejection_organized_boundary.html">pcl::registration::CorrespondenceRejectionOrganizedBoundary</a></div><div class="ttdoc">The CorrespondenceRejectionOrganizedBoundary class implements a simple correspondence rejection measu...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_organized_boundary.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejection_organized_boundary_html_a0461ddfd9e3b02b4e255deab34416857"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejection_organized_boundary.html#a0461ddfd9e3b02b4e255deab34416857">pcl::registration::CorrespondenceRejectionOrganizedBoundary::CorrespondenceRejectionOrganizedBoundary</a></div><div class="ttdeci">CorrespondenceRejectionOrganizedBoundary()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_organized_boundary.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejection_organized_boundary_html_a1706ee160d25a4d6104f04620984e0b2"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejection_organized_boundary.html#a1706ee160d25a4d6104f04620984e0b2">pcl::registration::CorrespondenceRejectionOrganizedBoundary::setTargetPoints</a></div><div class="ttdeci">void setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2)</div><div class="ttdoc">Method for setting the target cloud</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_organized_boundary.h:116</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejection_organized_boundary_html_a43001f5447541d815f7e061a9aaa23f6"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejection_organized_boundary.html#a43001f5447541d815f7e061a9aaa23f6">pcl::registration::CorrespondenceRejectionOrganizedBoundary::requiresSourcePoints</a></div><div class="ttdeci">bool requiresSourcePoints() const</div><div class="ttdoc">See if this rejector requires source points</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_organized_boundary.h:97</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejection_organized_boundary_html_a46d7cc2bfe42a18eebcfc35b1b14df80"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejection_organized_boundary.html#a46d7cc2bfe42a18eebcfc35b1b14df80">pcl::registration::CorrespondenceRejectionOrganizedBoundary::getRemainingCorrespondences</a></div><div class="ttdeci">void getRemainingCorrespondences(const pcl::Correspondences &amp;original_correspondences, pcl::Correspondences &amp;remaining_correspondences)</div><div class="ttdoc">Get a list of valid correspondences after rejection from the original set of correspondences....</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejection_organized_boundary_html_a9cb1d422f69900ef6b14cdbc9882dcad"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejection_organized_boundary.html#a9cb1d422f69900ef6b14cdbc9882dcad">pcl::registration::CorrespondenceRejectionOrganizedBoundary::setSourcePoints</a></div><div class="ttdeci">void setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2)</div><div class="ttdoc">Blob method for setting the source cloud</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_organized_boundary.h:102</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejection_organized_boundary_html_ab0e6fb59d74fe0e8566674762815c584"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejection_organized_boundary.html#ab0e6fb59d74fe0e8566674762815c584">pcl::registration::CorrespondenceRejectionOrganizedBoundary::applyRejection</a></div><div class="ttdeci">void applyRejection(pcl::Correspondences &amp;correspondences)</div><div class="ttdoc">Apply the rejection algorithm.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_organized_boundary.h:133</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejection_organized_boundary_html_afb1ae338acec662792295287628a2869"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejection_organized_boundary.html#afb1ae338acec662792295287628a2869">pcl::registration::CorrespondenceRejectionOrganizedBoundary::requiresTargetPoints</a></div><div class="ttdeci">bool requiresTargetPoints() const</div><div class="ttdoc">See if this rejector requires a target cloud</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_organized_boundary.h:111</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html">pcl::registration::CorrespondenceRejector</a></div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html">pcl::registration::DataContainer</a></div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:217</div></div>
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